uncommented much of the opencv node's callback functions AND renamed the output topics to obsnav/ AND commented out the depthThreshold publisher; created a new node, depth_blobs, which splits the depths of an input depth image into three parts, (0 to 1.85, 1.85 to 3.70, 3.70 to 5.55); depth_blobs publishes a rosimage of only the first threshold, but it prints out information on each splice;